From a8e2923774371d287a0b64ad2db34c42c49470a8 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Tue, 3 Dec 2019 23:55:58 +1100
Subject: [PATCH] Tracker: correct scan mode pitch clamping

---
 AntennaTracker/mode.cpp | 20 ++++++++++++--------
 1 file changed, 12 insertions(+), 8 deletions(-)

diff --git a/AntennaTracker/mode.cpp b/AntennaTracker/mode.cpp
index 9c60867340..a79bf53481 100644
--- a/AntennaTracker/mode.cpp
+++ b/AntennaTracker/mode.cpp
@@ -45,15 +45,19 @@ void Mode::update_scan(void)
     }
 
     if (!nav_status.manual_control_pitch) {
-        float pitch_delta = g.scan_speed_pitch * 0.02f;
-        nav_status.pitch += pitch_delta * (nav_status.scan_reverse_pitch?-1:1);
-        if (nav_status.pitch < g.pitch_min && nav_status.scan_reverse_pitch) {
-            nav_status.scan_reverse_pitch = false;
+        const float pitch_delta = g.scan_speed_pitch * 0.02f;
+        if (nav_status.scan_reverse_pitch) {
+            nav_status.pitch -= pitch_delta;
+            if (nav_status.pitch < g.pitch_min) {
+                nav_status.scan_reverse_pitch = false;
+            }
+        } else {
+            nav_status.pitch += pitch_delta;
+            if (nav_status.pitch > g.pitch_max) {
+                nav_status.scan_reverse_pitch = true;
+            }
         }
-        if (nav_status.pitch > g.pitch_max && !nav_status.scan_reverse_pitch) {
-            nav_status.scan_reverse_pitch = true;
-        }
-        nav_status.pitch = constrain_float(nav_status.pitch, -g.pitch_min, g.pitch_max);
+        nav_status.pitch = constrain_float(nav_status.pitch, g.pitch_min, g.pitch_max);
     }
 
     update_auto();